WO2018123186A1 - Multicopter - Google Patents

Abstract

A multicopter 10 comprising: eight rotors arranged having gaps therebetween and so as to surround a center point P1 in the planar view; and a spraying device 52 having a plurality of nozzles 62, 64. In the planar view, the eight rotors are arranged symmetrically, including in the rotation direction relative to a first line L1. The same number of rotors are arranged on the left and right sides of the first line L1. In the side view, discharge ports 62a, 64a for each nozzle 62, 64 are positioned lower than the rotor. The discharge ports 62a, 64a for each nozzle 62, 64 are provided inside first regions R1, R2 on the left and right sides of the first line L1 in the planar view, said regions being formed by: the arcs and tangents of the rotation trajectory of each rotor tip; and a line that passes through the rotation axis of the foremost rotor and the rotation axis of the rearmost rotor.

Description

Multicopter

This invention relates to a multi-copter, and more particularly to a multi-copter used for drug distribution or the like.

An example of this type of prior art is disclosed in Patent Document 1.

Patent Document 1 includes a pair of rotor blades (rotors) that rotate in opposite directions to each other and a prime mover that drives the rotor blades, the pair of rotor blades being arranged in parallel on the same plane, and a pair of rotor blades. A flight-type working machine (multi-copter) for radio control in which a prime mover is disposed in the middle lower part is disclosed. The flying work machine further includes a medicine tank, a medicine supply device, and a spray pipe. The spray tube is provided to extend to the left and right below the pair of rotor blades, both the left and right outer ends of the spray tube are closed, and a plurality of nozzle holes run along the left and right sides at predetermined intervals on the lower end surface of the spray tube. Is formed. And the chemical | medical agent supplied to the spreading | diffusion pipe | tube via the chemical | medical agent supply apparatus from the chemical | medical agent tank is discharged toward the downward direction from the nozzle of a spreading | diffusion pipe | tube.

JP-A-10-86898

In the spraying of medicines (liquid medicines such as herbicides and agricultural chemicals) using a multicopter as shown in Patent Document 1, the downdraft generated by the rotor (hereinafter referred to as “downwash”) greatly affects the characteristics of the medicine spraying. Specifically, downwash generated by multiple rotors creates asymmetry of wind force (velocity) due to vortices generated from the rotor tip or external wind, depending on the rotation direction and rotation speed of the rotor, and is subject to the field. Unevenness of drug adhesion to objects may occur. Compared to unmanned helicopters with a main rotor and tail rotor, the spraying of chemicals with a multi-copter has a small body weight, so the wind of the downwash is weakened and the natural winds make it easier for the chemicals to scatter. The amount of drug attached to the object may be reduced.

Therefore, a main object of the present invention is to provide a multicopter that can suppress the occurrence of uneven drug adhesion to a target object in a field and can secure the amount of drug adhesion to the target object.

According to a certain aspect of the present invention, 4 × N (N is an integer of 2 or more) rotors that are spaced apart from each other so as to surround the center point in plan view, and each rotor is supported. 4 × N rotor support portions, a main support portion that supports each rotor support portion, and a spraying device that includes a plurality of nozzles for discharging a medicine. In plan view, 4 × N rotors are Are arranged symmetrically with respect to the first line extending in the front-rear direction through the center point, including the rotational direction, and the same number of rotors are arranged on both the left and right sides of the first line. The outlet is located below the 4 × N rotors, and in a plan view on both the left and right sides of the first line, the arc and tangent of the rotation locus of each rotor tip, the rotation axis of the foremost rotor, and the last rotor In a first region formed by a line passing through the rotation axis of Discharge port of each nozzle is provided, Maruchikoputa is provided.

In the present invention, 4 × N (N is an integer of 2 or more) rotors are arranged to be spaced apart from each other so as to surround the center point in plan view, and extend in the front-rear direction through the center point. The lines are symmetrically arranged with respect to the line including the rotational direction, and the same number of rotors are arranged on both the left and right sides of the first line. Thereby, the downwash which a rotor generate | occur | produces on both the left and right sides of the 1st line | wire of a multicopter can be made similarly, and generation | occurrence | production of the adhesion nonuniformity of the chemical | medical agent with respect to the target object of a field can be suppressed. In addition, the two first areas are downwash strong wind areas, and the downwash itself can be strengthened by using more than eight rotors. Therefore, by providing the discharge port of each nozzle located below the rotor in the first area, it is possible to spread the medicine on the strong downwash from above the field and spray it with a strong pressure, thereby suppressing the scattering of the medicine. Thus, it is possible to secure the amount of the drug attached to the object in the field.

Preferably, in a plan view, the discharge port of each nozzle is provided so as not to overlap the rotation shaft of each rotor. By providing the discharge port of each nozzle so that it does not overlap the rotation axis of each rotor in plan view, i.e., except under the rotation axis of each rotor that does not become the strong wind area of the downwash, the medicine is made strong downwash. Can be sprayed well on top.

Preferably, the discharge port of each nozzle is provided except under the rotor support portion. By providing the discharge port of each nozzle except the lower part of the rotor support part which does not become the strong wind area of the down wash, the medicine can be satisfactorily sprayed on the strong down wash.

More preferably, it further includes 4 × N drive sources for driving each rotor, the drive source and the rotor are provided on the same axis, and the discharge port of each nozzle is provided except under the drive source. By providing the discharge port of each nozzle except under the driving source that does not become the strong wind area of the downwash, the medicine can be well dispersed on the strong downwash.

Preferably, the discharge ports of the respective nozzles are provided in a second region formed by connecting the rotation shafts of the respective rotors in plan view on both the left and right sides of the first line. Since the second area in the first area is an area where downwash is stronger, by providing the discharge ports of the respective nozzles in the second area, the medicine can be sprayed on the stronger downwash. Further, it is possible to further ensure the adhesion amount of the drug to the object in the field by suppressing the scattering of the drug.

Preferably, the 4 × N rotor includes four single rotors and two sets of coaxial counter-rotating rotors. In plan view, the four single rotors and the two sets of coaxial counter-rotating rotors are respectively Are arranged so as to form a hexagon when they are connected to each other, and in a plan view, the single rotor is defined by a first line and a second line extending in the left-right direction so as to be orthogonal to the first line The two coaxial contra-rotating rotors are arranged on the second line in plan view. By using eight or more rotors including two sets of coaxial counter rotating rotors, it is possible to generate a stronger downwash and spray the medicine on the strong downwash.

More preferably, in a plan view, the discharge port of each nozzle is disposed on the second line. Since the area on the second line is a stronger area of downwash, the discharge port of each nozzle is provided on the second line, so that the medicine can be sprayed on the stronger downwash.

Preferably, in a plan view, the discharge port of each nozzle is disposed within the rotation locus of each coaxial counter rotating rotor. Since the rotation trajectory of each coaxial counter-rotating rotor is an area where downwash is stronger, the discharge port of each nozzle is provided within the rotational trajectory of each coaxial counter-rotating rotor, thereby further reducing the drug. Can be sprayed on a wash.

Preferably, in plan view, the distance from the rotation axis of the coaxial counter rotating rotor to the first line is longer than the distance from the rotation axis of the single rotor to the center point. By making the distance from the rotation axis of the coaxial counter-rotating rotor to the first line longer than the distance from the rotation axis of the single rotor to the center point, the width in which the medicine can be spread can be increased.

More preferably, the 4 × N rotor includes eight single rotors, and in the plan view, the eight single rotors are arranged so that an octagon is formed when the respective rotation centers are connected, and in the plan view. Two single rotors are arranged in a region defined by the first line and the second line extending in the left-right direction so as to be orthogonal to the first line. By using eight or more single rotors, the rotor diameter of each rotor can be reduced, and the thrust required for each rotor can be made relatively small.

Preferably, on both the left and right sides of the first line, there is a third region between the rotation axes of the foremost single rotor and the rearmost single rotor in a side view and where the rotation paths of the single rotor overlap in the front-rear direction. The discharge ports of the nozzles are formed in the third region in plan view on both the left and right sides of the first line. Since the third region in the first region, in which the second region and the third region overlap, is an area where downwash is stronger, the discharge port of each nozzle is connected to the third region in the first region. In particular, by providing the area where the second area and the third area overlap, it is possible to spread the medicine on a stronger downwash.

In addition, preferably, in a plan view, the discharge ports of the nozzles are arranged other than on the second line, and the discharge ports of the nozzles are provided so that the direction and / or position of the nozzles can be changed between forward travel and reverse travel. In general, the rear region has a stronger downwash than the front region with respect to the traveling direction of the multicopter. Therefore, in a multicopter that sprays medicines when moving forward and backward without changing the front-rear direction over the field, if the nozzle outlets are placed on lines other than the second line, By making it possible to change the direction and / or position of the discharge port, it is possible to discharge the drug in consideration of the difference in downwash between the front area and the rear area with respect to the wind and traveling direction, and the drug can be applied to a strong downwash. It can be sprayed in the same way when moving forward and backward.

More preferably, it further includes 4 × N drive sources for driving the respective rotors, the 4 × N rotors include a single rotor, and the single rotor is provided near the lower portion of the drive source. When the distance between the nozzle outlet and the single rotor in the vertical direction is smaller, the medicine ejected from the nozzle outlet is more likely to ride downwash before spreading. Therefore, if the single rotor is provided near the lower part of the drive source, it is easy to arrange the nozzle so that the nozzle discharge port is close to the single rotor, and the medicine ejected from the nozzle discharge port can be washed down before spreading. It becomes easy to put. In addition, in the case of including a coaxial counter rotating rotor with strong downwash, it is possible to increase the amount of the drug attached to the object in the field due to a synergistic effect with the coaxial counter rotating rotor.

In addition, four sets of coaxial counter rotating rotors that are spaced apart from each other so as to surround the center point in plan view, eight rotor support portions that respectively support the respective coaxial counter rotating rotors, and each rotor A main support part that supports the support part, and a spraying device that includes a plurality of nozzles for discharging a medicine. In plan view, the four sets of coaxial counter rotating rotors extend in the front-rear direction through the center point. Arranged symmetrically with respect to the first line, including the rotational direction, and arranged such that a quadrangle is formed when the respective rotation centers are connected. And a second line extending in the left-right direction so as to be orthogonal to the first line, one set is arranged, and the discharge port of each nozzle is below the four sets of coaxial counter rotating rotors in a side view. Located in the plan view Connecting the rotation axis of the counter-rotating rotors provided in the fourth area, Maruchikoputa is provided.

In the present invention, by using four sets of coaxial counter rotating rotors, it is possible to generate a strong down wash and spray the medicine on the strong down wash. In addition, since the fourth region is an area with a strong downwash, by providing the discharge port of each nozzle in the fourth region, the medicine can be sprayed on the strong downwash.

Preferably, the discharge ports of the plurality of nozzles are arranged so as to be line symmetric with respect to the first line. In this case, generation | occurrence | production of the adhesion nonuniformity of the chemical | medical agent with respect to the target object of a field can further be suppressed.

Also preferably, the discharge port of each nozzle is provided in a fifth region where the fourth region and the rotation locus of each coaxial counter rotating rotor overlap in plan view. Since the fifth region is an area where the downwash is stronger, by providing the discharge port of each nozzle in the fifth region, the medicine can be sprayed on the stronger downwash.

Preferably, two or more nozzle outlets are arranged on both front and rear sides of the second line so as to be line-symmetric with respect to the second line, and the plurality of nozzles are rearward with respect to the traveling direction of the multicopter. The medicine can be discharged from the nozzle on the side. As described above, the rear area has a stronger downwash than the front area with respect to the traveling direction of the multicopter. Therefore, when a total of four or more nozzles are arranged in a multi-copter that sprays medicines when moving forward and backward without changing the front-rear direction in the sky above the farm field, the nozzle outlet is set to the second line. Two or more nozzles can be arranged on both the front and rear sides of the second line so as to be symmetrical with each other, and a plurality of nozzles can be provided so that the medicine can be discharged from the nozzles on the rear side with respect to the traveling direction of the multicopter. . Thereby, it can switch so that a medicine may be ejected from the nozzle on the back side with respect to the advancing direction, and the medicine can be put on a strong downwash and sprayed in the same way at the time of forward movement and backward movement.

According to the present invention, it is possible to suppress the occurrence of uneven drug adhesion to the object in the field and to secure the amount of drug adhesion to the object.

1 is a perspective view showing a multicopter according to an embodiment of the present invention. The multicopter which concerns on embodiment of FIG. 1 is shown, (a) is a top view solution figure, (b) is a front view solution figure, (c) is a side view solution figure. It is an illustration figure which shows the rotation direction of the rotor of the multicopter which concerns on embodiment of FIG. 1, a strong wind area, the position of the discharge outlet of a nozzle, etc. FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 0 cm below a rotor (rotor lower surface) by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 10 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 30 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 50 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 70 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 90 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is a perspective view which shows the multicopter which concerns on other embodiment of this invention. The multicopter which concerns on embodiment of FIG. 10 is shown, (a) is a top view solution figure, (b) is a front view solution figure, (c) is a side view solution figure. It is an illustration figure which shows the rotation direction of the rotor of the multicopter which concerns on embodiment of FIG. 10, a strong wind area, the position of the discharge outlet of a nozzle, etc. FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 0 cm below a rotor (rotor lower surface) by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 10 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 30 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 50 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 70 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is an illustration figure which shows the flow-velocity distribution in the height of 90 cm below a rotor by the downwash of the multicopter which concerns on embodiment of FIG. It is a perspective view which shows the multicopter which concerns on other embodiment of this invention. The multicopter which concerns on embodiment of FIG. 19 is shown, (a) is a top view solution figure, (b) is a front view solution figure, (c) is a side view solution figure. FIG. 20 is an illustrative view showing a rotation direction of a rotor of the multicopter according to the embodiment of FIG. 19, a strong wind area, a position of a nozzle discharge port, and the like. FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 0 cm below the rotor (rotor lower surface) due to a multi-copter down wash according to the embodiment of FIG. 19. FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 10 cm below the rotor by the multi-copter down wash according to the embodiment of FIG. 19. FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 30 cm below the rotor by the multi-copter down wash according to the embodiment of FIG. 19. FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 50 cm below the rotor by a multi-copter down wash according to the embodiment of FIG. 19. FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 70 cm below the rotor by the multi-copter down wash according to the embodiment of FIG. 19. FIG. 20 is an illustrative view showing a flow velocity distribution at a height of 90 cm below the rotor by the multi-copter down wash according to the embodiment of FIG. 19.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

Referring to FIGS. 1 and 2, a multicopter 10 according to an embodiment of the present invention includes a main support portion 12. The main support portion 12 includes a disc-shaped hub portion 14 and six columnar spoke portions 16, 18, 20, 22, 24, and 26. The spoke portions 16 to 26 are provided at substantially equal intervals (approximately 60 ° intervals) in the circumferential direction on the side surface of the hub portion 14 and are formed to extend radially.

Drive sources 28 and 30 are provided below the tip portions of the spoke portions 16 and 18, respectively, and drive sources 32a and 32b are provided above and below the tip portion of the spoke portion 20, respectively. Drive sources 34 and 36 are provided below the distal end portion of 24, and drive sources 38a and 38b are provided above and below the distal end portion of the spoke portion 26, respectively. In this embodiment, motors are used as the drive sources 28, 30, 32a, 32b, 34, 36, 38a and 38b.

Drive sources 28 and 30 drive single rotor units 40 and 42, respectively, drive sources 32a and 32b drive coaxial counter rotating rotor unit 44, and drive sources 34 and 36 respectively single rotor units 46 and 48. , And the drive sources 38 a and 38 b drive the coaxial counter rotating rotor unit 50.

Each of the single rotor units 40, 42, 46 and 48 including one rotor includes rotor support portions 40a, 42a, 46a and 48a and single rotors 40b, 42b, 46b and 48b. The rotor support portions 40a, 42a, 46a and 48a extend in the vertical direction below the tip portions of the spoke portions 16, 18, 22 and 24, and are rotationally driven by the drive sources 28, 30, 34 and 36. The single rotors 40b, 42b, 46b and 48b are respectively supported by the lower end portions of the rotor support portions 40a, 42a, 46a and 48a and rotate together with the rotor support portions 40a, 42a, 46a and 48a. Here, the single rotors 40b, 42b, 46b and 48b are provided coaxially with the drive sources 28, 30, 34 and 36 in the vicinity of the lower portions of the drive sources 28, 30, 34 and 36, respectively. The rotor support portions 40a, 42a, 46a, and 48a, and rotor support portions 44a, 44b, 50a, and 50b, which will be described later, also function as rotating shafts of the rotor to be supported.

The coaxial counter-rotating rotor unit 44 including two rotors includes a pair of rotor support portions 44a and 44b and a pair of coaxial counter-rotating rotors 44c and 44d. The rotor support portion 44a extends in the vertical direction above the tip portion of the spoke portion 20, and is rotationally driven by the drive source 32a. The coaxial counter rotating rotor 44c is supported by the upper end portion of the rotor support portion 44a and rotates together with the rotor support portion 44a. The rotor support portion 44b extends in the vertical direction below the tip portion of the spoke portion 20, and is rotationally driven by the drive source 32b. The coaxial counter rotating rotor 44d is supported by the lower end portion of the rotor support portion 44b and rotates together with the rotor support portion 44b. Similarly, the coaxial counter-rotating rotor unit 50 including two rotors includes a set of rotor support portions 50a and 50b and a set of coaxial counter-rotating rotors 50c and 50d. The rotor support portion 50a extends in the vertical direction above the tip portion of the spoke portion 26, and is rotationally driven by the drive source 38a. The coaxial counter rotating rotor 50c is supported by the upper end of the rotor support 50a and rotates together with the rotor support 50a. The rotor support portion 50b extends in the vertical direction below the tip portion of the spoke portion 26 and is driven to rotate by the drive source 38b. The coaxial counter rotating rotor 50d is supported by the lower end portion of the rotor support portion 50b and rotates together with the rotor support portion 50b. Here, the drive sources 32a, 32b, 38a and 38b are provided coaxially with the coaxial contra-rotating rotors 44c, 44d, 50c and 50d, respectively.

Accordingly, the rotor support portions 40a, 42a, 44a, 44b, 46a, 48a, 50a and 50b are supported by the main support portion 12 via the drive sources 28, 30, 32a, 32b, 34, 36, 38a and 38b, respectively. Is done. The single rotors 40b, 42b, 46b, and 48b and the coaxial counter rotating rotors 44c, 44d, 50c, and 50d are driven by the drive sources 28, 30, 34, 36, 32a, 32b, 38a, and 38b, respectively. The shapes and dimensions of the single rotors 40b, 42b, 46b, 48b and the coaxial counter rotating rotors 44c, 44d, 50c, 50d are the same.

As described above, the multicopter 10 includes four single rotors 40b, 42b, 46b, and 48b and two sets of coaxial counter rotating rotors 44c, 44d, 50c, and 50d, and is configured as a so-called hexacopter.

Referring to FIGS. 2 and 3, in a plan view, these eight rotors are spaced apart from each other so as to surround center point P1, and extend in the front-rear direction through center point P1. The lines L1 are arranged symmetrically with respect to the rotation direction including the rotation direction, and the same number of rotors are arranged on the left and right sides of the first line L1.

Specifically, in plan view, the four single rotors 40b, 42b, 46b and 48b and the two sets of coaxial counter rotating rotors 44c, 44d and 50c, 50d have hexagonal shapes when the respective rotation centers are connected. Arranged to form. The center point P1 is the center of gravity of the hexagon. In plan view, the single rotors 40b, 42b, 46b, and 48b are arranged one by one in four regions defined by the first line L1 and the second line L2 extending in the left-right direction so as to be orthogonal to the first line L1. The two sets of coaxial counter rotating rotors 44c, 44d and 50c, 50d are disposed on the second line L2. In this embodiment, the second line L2 passes through the center point P1 in plan view. More specifically, in plan view, the respective rotation axes of the foremost single rotors 40b and 42b are arranged symmetrically with respect to the first line L1 in front of the second line L2, and the rearmost single rotor The rotational axes of 46b and 48b are arranged symmetrically with respect to the first line L1 behind the second line L2, and the respective rotational axes of the two sets of coaxial counter rotating rotors 44c, 44d and 50c, 50d. Is arranged on the second line L2. 3, the single rotors 40b and 46b and the coaxial counter rotating rotors 44d and 50c are rotated counterclockwise in a plan view, and the single rotors 42b and 48b and the coaxial counter rotating rotor 44c, 50d is rotated clockwise. Therefore, with respect to the single rotors 40b, 42b, 46b, and 48b, the rotors that are symmetric with respect to the center point P1 of the multicopter 10 have the same rotation direction.

Moreover, the multicopter 10 includes a spraying device 52 for spraying a medicine on a field, an antenna 54 for transmitting and receiving a radio signal, and a control device (not shown) for controlling the operation of the multicopter 10. The chemical | medical agent said here means what is spread | dispersed to liquid or granular fields, such as a herbicide, a fertilizer, and water. The antenna 54 extends upward from the central portion of the main support portion 12, and the control device is accommodated in the main support portion 12. The spraying device 52 includes a tank 56 for storing a medicine, a plurality of arm-shaped pipes 58 and 60, a plurality of nozzles 62 and 64 for discharging the medicine, and a medicine in the tank 56 to each nozzle 62 and 64. And a pump 66 for pumping, and is provided below the main support portion 12. The tank 56 is supported by a support portion 68 that extends downward from the central portion of the hub portion 14. The pipes 58 and 60 are each formed in a substantially L shape, and extend radially from the side surface of the tank 56 and in the opposite directions along the second line L2. The nozzles 62 and 64 are provided at the tip portions of the pipes 58 and 60, respectively. The pump 66 is provided on the side surface of the tank 56. As shown in FIG. 2, the discharge ports 62a and 64a of the nozzles 62 and 64 are positioned on the second line L2 in a plan view and are positioned below the eight rotors in a side view. Therefore, the medicine stored in the tank 56 is discharged downward from the discharge ports 62a and 64a of the nozzles 62 and 64 through the pipes 58 and 60.

Here, FIGS. 4 to 9 show the analysis results of the flow velocity distribution by the downwash of the multicopter 10. 4 shows a height of 0 cm below the rotor (rotor lower surface), FIG. 5 shows a height of 10 cm below the rotor, FIG. 6 shows a height of 30 cm below the rotor, FIG. 7 shows a height of 50 cm below the rotor, FIG. Fig. 9 shows the wind speed distribution in the downward direction at a height of 70 cm below the rotor, and Fig. 9 at a height of 90 cm below the rotor. The rotor here is a single rotor 42b. As an analysis condition, it was assumed that the multicopter 10 was flying forward and in the horizontal direction at a flight speed of 20 km / h. 4 to 9, the magnitude of the wind speed in the downward direction is indicated by black and white shades, and the wind speed increases, that is, the downwash becomes stronger as the color becomes darker. The same applies to FIGS. 13 to 18 and FIGS. 22 to 27 described later.

This will be described with reference to FIGS. In plan view on the left side of the first line L1, the arcs of the rotation trajectories S1, S2, S3 at the tips of the single rotor 42b, the coaxial counter rotating rotor 44c (44d), and the single rotor 46b are represented as arcs T1, T2, T3, respectively. To do. A common tangent line between the rotation trajectories S1 and S2 is a tangent line U1, and a common tangent line between the rotation trajectories S2 and S3 is a tangent line U2. A straight line passing through the rotation axis of the foremost single rotor 42b and the rotation axis of the rearmost single rotor 46b is defined as a line U3. As shown in FIG. 4, a first region R1 (shaded portion in FIG. 3) formed by arcs T1, T2, T3, tangents U1, U2, and line U3 is a strong wind area with strong downwash. Similarly, in a plan view on the right side of the first line L1, the arcs of the rotation trajectories S4, S5, and S6 at the tips of the single rotor 40b, the coaxial counter rotating rotor 50c (50d), and the single rotor 48b are represented by arcs T4 and T5. , T6. A common tangent line between the rotation trajectories S4 and S5 is a tangent line U4, and a common tangent line between the rotation trajectories S5 and S6 is a tangent line U5. A straight line passing through the rotation axis of the foremost single rotor 40b and the rotation axis of the rearmost single rotor 48b is defined as a line U6. A first region R2 (shaded portion in FIG. 3) formed by the arcs T4, T5, T6, the tangent lines U4, U5, and the line U6 is a strong wind area with strong downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the first regions R1 and R2, respectively, in a plan view.

Also, as shown in FIG. 4 to FIG. 6, on the left side of the first line L1, the rotation axes of the single rotor 42b, the coaxial counter rotating rotor 44c (44d) and the single rotor 46b are connected in plan view. The second region R3 (shaded area in FIG. 3) is a strong wind area with stronger downwash. Similarly, in the right side of the first line L1, the second region R4 (in FIG. 3) formed by connecting the respective rotation axes of the single rotor 40b, the coaxial counter rotating rotor 50c (50d), and the single rotor 48b in plan view. The shaded area is a strong wind area with stronger downwash. 4 to 9, the downwash located in the second regions R3 and R4 in FIG. 4 forms an area surrounded by a strong wind while moving to the rear of the multicopter 10 as it proceeds downward. Since the area surrounded by the strong winds becomes smaller as it goes further downward, when the medicine is discharged from the second regions R3 and R4, the medicine is prevented from being scattered outside the multicopter 10 in a plan view. It can be seen that the medicine can be reliably sprayed below the flight path of the multicopter 10. Therefore, it is more preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the second regions R3 and R4, respectively, in plan view.

Furthermore, as shown in FIG. 4, the inside of the rotation trajectory S2 (see FIG. 3) of the coaxial counter rotating rotor 44c (44d) in a plan view on the left side of the first line L1 is a strong wind area with strong downwash. Similarly, in a plan view on the right side of the first line L1, the inside of the rotation locus S5 (see FIG. 3) of the coaxial counter rotating rotor 50c (50d) is a strong wind area with strong downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the rotation trajectories S2 and S5, respectively, in a plan view.

Also, as shown in FIGS. 4, 6 and 7, the straight line passing through the rotation axis of the coaxial counter rotating rotor 44c (44d) and the rotation axis of the coaxial counter rotating rotor 50c (50d) in the plan view is down. It becomes a strong wind area with stronger wash. In other words, on the second line L2 in a plan view, it is a strong wind area with a stronger downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are respectively provided on the second line L2 (particularly in the first regions R1 and R2) in plan view.

As shown in FIGS. 4 and 5, the positions of the rotation axes of the single rotors 40b, 42b, 46b, 48b and the coaxial counter rotating rotors 44c, 44d, 50c, 50d in a plan view, that is, the rotor support portions 40a, 42a, Below 46a, 48a, 44a, 44b, 50a, 50b is not a downwash strong wind area. Further, below the drive sources 28, 30, 34, 36, 32a, 32b, 38a, 38b is not a downwash strong wind area. Therefore, the discharge ports 62a and 64a of the nozzles 62 and 64 do not overlap the positions of the rotation axes of the single rotors 40b, 42b, 46b, and 48b and the coaxial counter rotating rotors 44c, 44d, 50c, and 50d in a plan view. That is, it is preferable to be provided except under the rotor support portions 40a, 42a, 46a, 48a, 44a, 44b, 50a, 50b. Moreover, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided except under the drive sources 28, 30, 34, 36, 32a, 32b, 38a, and 38b.

Further, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are arranged so as to be line-symmetric with respect to the first line L1.

Referring to FIG. 3, most preferably, in a plan view, the discharge port 62a of the nozzle 62 is located within the rotation locus S2 and on the center point P1 side and the second side from the rotation axis of the coaxial counter rotating rotor 44c (44d). It is provided in a region R5 located on the line L2. The region R5 is included in both the first region R1 and the second region R3. In plan view, the discharge port 64a of the nozzle 64 is provided in a region R6 located in the rotation locus S5 and on the second line L2 on the center point P1 side from the rotation axis of the coaxial counter rotating rotor 50c (50d). It is done. The region R6 is included in both the first region R2 and the second region R4. In this embodiment, the discharge ports 62a and 64a of the nozzles 62 and 64 are provided at positions R5a and R6a in the regions R5 and R6, respectively, in plan view.

According to the multicopter 10, the eight rotors (the single rotors 40b, 42b, 46b, and 48b and the coaxial counter rotating rotors 44c, 44d, 50c, and 50d) are spaced from each other so as to surround the center point P1 in a plan view. Are arranged symmetrically with respect to the first line L1 including the rotational direction with respect to the first line L1 extending in the front-rear direction, and the same number of rotors ( single rotors 42b, 46b and coaxial counter rotating rotors 44c and 44d, and on the right side, single rotors 40b and 48b and coaxial counter rotating rotors 50c and 50d) are arranged. As a result, the downwash in which the rotors ( single rotors 40b, 42b, 46b, and 48b and coaxial counter rotating rotors 44c, 44d, 50c, and 50d) are generated on the left and right sides of the first line L1 of the multicopter 10 can be similarly performed. It is possible to suppress the occurrence of uneven drug adhesion to the object. In addition, the two first regions R1 and R2 are downwash strong wind areas, and more than eight rotors ( single rotors 40b, 42b, 46b, 48b and coaxial counter rotating rotors 44c, 44d, 50c, By using 50d), the downwash itself can be strengthened. Therefore, the discharge ports 62a and 64a of the nozzles 62 and 64 positioned below the single rotors 40b, 42b, 46b and 48b and the coaxial counter rotating rotors 44c, 44d, 50c and 50d are disposed in the first regions R1 and R2. By providing the medicine, the medicine can be applied on a strong downwash and sprayed with a strong pressure, and the amount of the medicine attached to the object in the field can be secured by suppressing the dispersion of the medicine.

The discharge ports 62a and 64a of the nozzles 62 and 64 do not overlap with the rotation shafts of the rotors ( single rotors 40b, 42b, 46b and 48b and coaxial counter rotating rotors 44c, 44d, 50c and 50d) in plan view. That is, by providing the medicine except for the lower part of the rotation shaft of each rotor ( single rotors 40b, 42b, 46b, 48b and coaxial counter rotating rotors 44c, 44d, 50c, 50d) that does not become a strong wind area of the down wash, It can be sprayed well on a strong downwash.

By providing the discharge ports 62a and 64a of the nozzles 62 and 64 except for the lower portions of the rotor support portions 40a, 42a, 46a, 48a, 44a, 44b, 50a, and 50b that do not serve as downwash strong wind areas, It can be sprayed well on a strong downwash.

By providing the discharge ports 62a and 64a of the nozzles 62 and 64 except for the lower side of the drive sources 28, 30, 34, 36, 32a, 32b, 38a, and 38b that do not become the strong wind area of the down wash, the medicine is strengthened. Can be sprayed well on downwash.

Since the second regions R3 and R4 in the first regions R1 and R2 are areas with stronger downwash, by providing the discharge ports 62a and 64a of the nozzles 62 and 64 in the second regions R3 and R4, respectively. The medicine can be sprayed on a stronger downwash, and the amount of the medicine attached to the object in the field can be further secured by suppressing the scattering of the medicine.

The smaller the distance in the vertical direction between the discharge ports 62a, 64a of the nozzles 62, 64 and the single rotors 40b, 42b, 46b, 48b, the medicine ejected from the nozzles 62, 64 gets downwashed before spreading. Cheap. Therefore, when the single rotors 40b, 42b, 46b, and 48b are provided near the lower portions of the drive sources 28, 30, 34, and 36, the discharge ports 62a and 64a of the nozzles 62 and 64 are close to the single rotors 40b, 42b, 46b, and 48b. Thus, the nozzles 62 and 64 can be easily arranged, and the medicine ejected from the nozzles 62 and 64 can be easily put on the downwash before spreading. In addition, the amount of the drug attached to the object in the field can be increased by a synergistic effect with the coaxial counter rotating rotors 44c, 44d, 50c, 50d having strong downwash.

The various effects described above can also be achieved in the multicopter 10a described later.

By using eight rotors including two pairs of coaxial counter rotating rotors 44c, 44d and 50c, 50d, it is possible to generate a stronger downwash and spray the medicine on the strong downwash.

Since the area on the second line L2 is a stronger downwash area, the discharge ports 62a and 64a of the nozzles 62 and 64 are provided on the second line L2, so that the medicine is placed on the stronger downwash. Can be sprayed.

The rotation trajectory S2 of the coaxial counter-rotating rotor 44c (44d) and the rotation trajectory S5 of the coaxial counter-rotating rotor 50c (50d) are areas with a stronger downwash, so the discharge ports 62a of the nozzles 62, 64 are provided. 64a are provided in the rotation trajectories S2 and S5, so that the medicine can be sprayed on a stronger downwash.

By disposing the discharge ports 62a and 64a of the nozzles 62 and 64 so as to be line-symmetric with respect to the first line L1, it is possible to further suppress the occurrence of uneven drug adhesion to the object in the field. This effect can also be achieved in the multicopters 10a and 10b described later.

Referring to FIGS. 10 and 11, a multicopter 10 a according to another embodiment of the present invention includes a main support portion 100. The main support portion 100 includes a disc-shaped hub portion 102 and eight columnar spoke portions 104, 106, 108, 110, 112, 114, 116, 118. The spoke portions 104 to 118 are provided at substantially equal intervals (approximately 45 ° intervals) in the circumferential direction on the side surface of the hub portion 102 and are formed to extend radially.

Drive sources 120 to 134 are provided below the tip portions of the spoke portions 104 to 118, respectively. In this embodiment, motors are used as the drive sources 120, 122, 124, 126, 128, 130, 132, and 134.

The drive sources 120 to 134 drive the single rotor units 136 to 150, respectively.

Single rotor units 136, 138, 140, 142, 144, 146, 148, 150 having one rotor are respectively provided with rotor support portions 136a, 138a, 140a, 142a, 144a, 146a, 148a, 150a, and a single rotor 136b. , 138b, 140b, 142b, 144b, 146b, 148b, 150b. The rotor support portions 136a to 150a extend in the vertical direction below the tip portions of the spoke portions 104 to 118, and are rotationally driven by the drive sources 120 to 134. The single rotors 136b to 150b are respectively supported by the lower end portions of the rotor support portions 136a to 150a and rotate together with the rotor support portions 136a to 150a. Here, the single rotors 136b to 150b are provided coaxially with the drive sources 120 to 134 near the lower portions of the drive sources 120 to 134, respectively. The rotor support portions 136a to 150a also function as a rotating shaft of the rotor to be supported.

Thus, the rotor support parts 136a to 150a are supported by the main support part 100 via the drive sources 120 to 134, respectively. The single rotors 136b to 150b are driven by drive sources 120 to 134, respectively. The shapes and dimensions of the single rotors 136b to 150b are the same.

As described above, the multicopter 10 includes eight single rotors 136b to 150b and is configured as a so-called octocopter.

Referring to FIGS. 11 and 12, in a plan view, eight single rotors 136b to 150b are spaced apart from each other so as to surround center point P2, and extend in the front-rear direction through center point P2. The first line L3 is disposed symmetrically with respect to the rotation direction including the rotation direction, and the same number of rotors are disposed on both the left and right sides of the first line L3.

Specifically, in a plan view, the eight single rotors 136b to 150b are arranged so that an octagon is formed when the respective rotation centers are connected. The center point P2 is the center of gravity of the octagon. In the plan view, the single rotors 136b to 150b are arranged in two in four regions defined by the first line L3 and the second line L4 extending in the left-right direction so as to be orthogonal to the first line L3. That is, the single rotors 136b and 138b are arranged in the same region, and similarly, the single rotors 140b and 142b, the single rotors 144b and 146b, and the single rotors 148b and 150b are arranged in the same region. In plan view, the rotational axes of the foremost single rotors 134b and 136b are arranged symmetrically with respect to the first line L3 in front of the second line L4, and the rearmost single rotors 142b and 144b are respectively The rotation axis is arranged symmetrically with respect to the first line L3 behind the second line L4. In plan view, the second line L4 includes a midpoint of a line connecting the rotation axes of the single rotors 138b and 140b and a midpoint of a line connecting the rotation axes of the single rotors 146b and 148b. It passes through the center point P2. As shown by white arrows in FIG. 12, in a plan view, the single rotors 136b, 140b, 144b and 148b are rotated clockwise, and the single rotors 138b, 142b, 146b and 150b are rotated counterclockwise. Therefore, with respect to the single rotors 136b to 150b, the rotors that are symmetrical with respect to the center point P2 of the multicopter 10a have the same rotational direction.

Further, the multicopter 10a includes a spraying device 52 for spraying a medicine on the field, an antenna 54 for transmitting and receiving a radio signal, and a control device (not shown) for controlling the operation of the multicopter 10a. Since these are the same as those included in the multicopter 10, redundant description thereof is omitted. As shown in FIG. 11, the discharge ports 62a and 64a of the nozzles 62 and 64 included in the spraying device 52 are positioned on the second line L4 in a plan view and positioned below the single rotors 136b to 150b in a side view. To do.

Here, FIGS. 13 to 18 show the analysis results of the flow velocity distribution by the downwash of the multicopter 10a. 13 shows a height of 0 cm below the rotor (rotor lower surface), FIG. 14 shows a height of 10 cm below the rotor, FIG. 15 shows a height of 30 cm below the rotor, FIG. 16 shows a height of 50 cm below the rotor, FIG. Fig. 18 shows a wind speed distribution in the downward direction at a height of 70 cm below the rotor, and Fig. 18 at a height of 90 cm below the rotor. The rotor here is a single rotor 136b. As an analysis condition, it was assumed that the multicopter 10a was flying forward and in the horizontal direction at a flight speed of 20 km / h.

This will be described with reference to FIGS. The arcs of the rotation trajectories S7, S8, S9, and S10 at the tips of the single rotors 136b, 138b, 140b, and 142b in a plan view on the left side of the first line L3 are arcs T7, T8, T9, and T10. A common tangent line between the rotation trajectories S7 and S8 is a tangent line U7, a common tangent line between the rotation trajectories S8 and S9 is a tangent line U8, and a common tangent line between the rotation trajectories S9 and S10 is a tangent line U9. A straight line passing through the rotation axis of the foremost single rotor 136b and the rotation axis of the rearmost single rotor 142b is defined as a line U10. As shown in FIG. 13, a first region R7 (shaded portion in FIG. 12) formed by arcs T7, T8, T9, T10, tangent lines U7, U8, U9 and line U10 is a strong wind area with strong downwash. Become. Similarly, the arcs of the rotation trajectories S11, S12, S13, and S14 at the tips of the single rotors 144b, 146b, 148b, and 150b in a plan view on the right side of the first line L3 are arcs T11, T12, T13, and T14. . A common tangent line between the rotation trajectories S11 and S12 is a tangent line U11, a common tangent line between the rotation trajectories S12 and S13 is a tangent line U12, and a common tangent line between the rotation trajectories S13 and S14 is a tangent line U13. A straight line passing through the rotation axis of the foremost single rotor 150b and the rotation axis of the rearmost single rotor 144b is defined as a line U14. A first region R8 (shaded portion in FIG. 12) formed by the arcs T11, T12, T13, T14, the tangents U11, U12, U13, and the line U14 is a strong wind area with strong downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the first regions R7 and R8, respectively, in plan view.

As shown in FIG. 13, the second region R9 formed by connecting the respective rotation axes of the single rotors 136b, 138b, 140b, 142b in plan view on the left side of the first line L3 (the hatched portion in FIG. 12). ) Is a strong wind area with stronger downwash. Similarly, in a plan view on the right side of the first line L3, the second region R10 (shaded portion in FIG. 12) formed by connecting the respective rotation axes of the single rotors 144b, 146b, 148b, and 150b has a downwash. It becomes a stronger strong wind area. 13-18, the downwash located in the second region R9, R10 in FIG. 13 forms an area surrounded by strong winds while moving downwards as it proceeds downward. Since the area surrounded by the strong winds becomes smaller as it goes further downward, when the medicine is discharged from the second regions R9 and R10, the medicine is prevented from being scattered outside the multicopter 10a in a plan view. It can be seen that the medicine can be reliably sprayed below the flight path of the multicopter 10a. Therefore, it is more preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the second regions R9 and R10, respectively, in plan view.

Further, as shown in FIGS. 13 to 18, on the left side of the first line L3, it is between the rotation axes of the foremost single rotor 136b and the rearmost single rotor 142b in a side view and viewed in the front-rear direction. The third region R11 (shaded area in FIG. 12) where the rotation loci S7, S8, S9, and S10 of the single rotors 136b, 138b, 140b, and 142b overlap is a strong wind area with strong downwash. Similarly, on the right side of the first line L3, the single rotors 144b, 146b, 148b, and 150b are between the rotation axes of the foremost single rotor 150b and the rearmost single rotor 144b in a side view and viewed in the front-rear direction. The third region R12 (shaded portion in FIG. 12) where the rotation trajectories S11, S12, S13, and S14 overlap is a strong wind area with strong downwash. Therefore, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the third regions R11 and R12, respectively, in plan view.

As shown in FIGS. 13 and 14, the position of the rotation shaft of the single rotors 136b to 150b in plan view, that is, the lower part of the rotor support portions 136a to 150a is not a strong wind area for downwash. Further, the area below the drive sources 120 to 134 is not a strong wind area for downwash. Accordingly, the discharge ports 62a and 64a of the nozzles 62 and 64 are provided so as not to overlap with the positions of the rotation shafts of the single rotors 136b to 150b in a plan view, that is, except under the rotor support portions 136a to 150a. Is preferred. In addition, the discharge ports 62a and 64a of the nozzles 62 and 64 are preferably provided except under the drive sources 120 to 134.

Further, it is preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are arranged so as to be line symmetric with respect to the first line L3.

Referring to FIG. 12, in this embodiment, the discharge port 62a of the nozzle 62 is provided at the position R13 on the second line L4 and in the third region R11, and the discharge port 64a of the nozzle 64 is connected to the second line L4. It is provided at a position R14 above and in the third region R12. The position R13 is included in any of the first region R7, the second region R9, and the third region R11, and the position R14 is included in any of the first region R8, the second region R10, and the third region R12.

According to the multicopter 10a, by using the eight single rotors 136b to 150b, the rotor diameter of each rotor can be reduced, and the thrust required for each rotor can be made relatively small. The rotor diameter means the diameter of a circle that is the rotation locus S of the rotor tip.

The areas where the third areas R11, R12 in the first areas R7, R8, among which the second areas R9, R10 and the third areas R11, R12 overlap, are areas where the downwash is stronger, so each nozzle 62 , 64 are provided in the third regions R11, R12 in the first regions R7, R8, particularly in the areas where the second regions R9, R10 and the third regions R11, R12 overlap. Can be sprayed on a stronger downwash.

Further, with reference to FIGS. 19 and 20, multi-copter 10 b of another embodiment of the present invention includes a main support portion 200. The main support portion 200 includes a disc-shaped hub portion 202 and four columnar spoke portions 204, 206, 208, and 210. The spoke portions 204 to 210 are provided at substantially equal intervals (approximately 90 ° intervals) in the circumferential direction on the side surface of the hub portion 202, and are formed to extend radially.

Drive sources 212a and 212b are provided above and below the tip of the spoke part 204, respectively, and drive sources 214a and 214b are provided above and below the tip of the spoke part 206, respectively. Drive sources 216a and 216b are provided above and below the tip portion, respectively, and drive sources 218a and 218b are provided above and below the tip portion of the spoke portion 210, respectively. In this embodiment, a motor is used as the drive sources 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b.

The drive sources 212a and 212b drive the coaxial counter-rotating rotor unit 220, the drive sources 214a and 214b drive the coaxial counter-rotating rotor unit 222, and the drive sources 216a and 216b are the coaxial counter-rotating rotor unit 224. , And the drive sources 218a and 218b drive the coaxial contra-rotating rotor unit 226.

The coaxial counter-rotating rotor unit 220 including two rotors includes a set of rotor support portions 220a and 220b and a set of coaxial counter-rotating rotors 220c and 220d. The rotor support part 220a extends in the vertical direction above the tip part of the spoke part 204, and is rotationally driven by the drive source 212a. The coaxial counter rotating rotor 220c is supported by the upper end of the rotor support 220a and rotates together with the rotor support 220a. The rotor support part 220b extends in the vertical direction below the tip part of the spoke part 204, and is rotationally driven by the drive source 212b. The coaxial counter rotating rotor 220d is supported by the lower end portion of the rotor support portion 220b and rotates together with the rotor support portion 220b.

Similarly, the coaxial counter-rotating rotor unit 222 including two rotors includes a set of rotor support portions 222a and 222b and a set of coaxial counter-rotating rotors 222c and 222d. The coaxial counter rotating rotor unit 224 including two rotors includes a set of rotor support portions 224a and 224b and a set of coaxial counter rotating rotors 224c and 224d. The coaxial counter-rotating rotor unit 226 including two rotors includes a set of rotor support portions 226a and 226b and a set of coaxial counter-rotating rotors 226c and 226d. Since the coaxial counter-rotating rotor units 222, 224, and 226 are configured in the same manner as the coaxial counter-rotating rotor unit 220, their overlapping description is omitted. Here, the drive sources 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b are provided coaxially with the coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d, 226c, 226d, respectively. The rotor support portions 220a, 220b, 222a, 222b, 224a, 224b, 226a, and 226b also function as a rotating shaft of the rotor to be supported.

Accordingly, the rotor support portions 220a, 220b, 222a, 222b, 224a, 224b, 226a, 226b are supported by the main support portion 200 via the drive sources 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b, respectively. Is done. The coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d, 226c, and 226d are driven by driving sources 212a, 212b, 214a, 214b, 216a, 216b, 218a, and 218b, respectively. The shapes and dimensions of the coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d, 226c, and 226d are the same.

As described above, the multicopter 10b includes four sets of coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d (a total of eight rotors), and is configured as a so-called quadcopter.

Referring to FIGS. 20 and 21, in a plan view, four sets of coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d are spaced from each other so as to surround center point P3. Are arranged symmetrically with respect to the first line L5 extending in the front-rear direction through the center point P3, including the rotational direction.

Specifically, in plan view, the four sets of coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d are arranged so that a quadrangle is formed when the respective rotation centers are connected. Is done. The center point P3 is the center of gravity of the rectangle. In plan view, the four sets of coaxial contra-rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d are second lines extending in the left-right direction so as to be orthogonal to the first line L5 and the first line L5. One set is arranged in each of the four areas partitioned by L6. In plan view, the rotational axes of the coaxial counter rotating rotors 220c and 220d and the rotational axes of the coaxial counter rotating rotors 226c and 226d are arranged symmetrically with respect to the first line L5 in front of the second line L6. The rotational axes of the coaxial counter rotating rotors 222c and 222d and the rotational axes of the coaxial counter rotating rotors 224c and 224d are arranged symmetrically with respect to the first line L5 behind the second line L6. Further, in plan view, the second line L6 includes a midpoint of a line segment connecting the respective rotational axes of the coaxial counter rotating rotors 220c (220d) and 222c (222d), a coaxial counter rotating rotor 224c (224d), and It passes through the midpoint of the line segment connecting the respective rotation axes of 226c (226d) and the center point P3. As shown by white arrows in FIG. 21, the coaxial counter rotating rotors 220c, 222d, 224c, and 226d are rotated clockwise in the plan view, and the coaxial counter rotating rotors 220d, 222c, 224d, and 226c are counterclockwise. To be rotated. Therefore, for the coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d, 226c, and 226d, the rotors that are symmetrical with respect to the center point P3 of the multicopter 10b have the same rotational direction.

Further, the multicopter 10b includes a spraying device 52 for spraying a medicine on the field, an antenna 54 for transmitting and receiving a radio signal, and a control device (not shown) for controlling the operation of the multicopter 10b. Since these are the same as those included in the multicopter 10, redundant description thereof is omitted. As shown in FIG. 20, the discharge ports 62a and 64a of the nozzles 62 and 64 included in the spraying device 52 are positioned on the second line L6 in a plan view, and coaxial counter-rotating rotors 220c and 220d in a side view. It is located below 222c, 222d, 224c, 224d and 226c, 226d.

Here, FIGS. 22 to 27 show the analysis results of the flow velocity distribution by the downwash of the multicopter 10b. FIG. 22 shows the height 0 cm below the rotor (rotor lower surface), FIG. 23 shows the height 10 cm below the rotor, FIG. 24 shows the height 30 cm below the rotor, FIG. 25 shows the height 50 cm below the rotor, FIG. Fig. 27 shows the wind speed distribution in the downward direction at a height of 70 cm below the rotor, and Fig. 27 at a height of 90 cm below the rotor. The rotor here is the coaxial counter rotating rotor 220d. As an analysis condition, it was assumed that the multicopter 10b was flying forward and in the horizontal direction at a flight speed of 20 km / h.

This will be described with reference to FIGS. In plan view, the arcs of the rotational trajectories S15, S16, S17, and S18 at the tips of the coaxial counter rotating rotors 220c (220d), 222c (222d), 224c (224d), and 226c (226d) are arcs T15, T16, T17 and T18. A common tangent line between the rotation trajectories S15 and S16 located farther from the first line L5 is defined as a tangent line U15. A common tangent line between the rotation trajectories S16 and S17 located farther from the second line L6 is defined as a tangent line U16. A common tangent line between the rotation trajectories S17 and S18 located farther from the first line L5 is defined as a tangent line U17. A common tangent line between the rotation trajectories S18 and S15 located farther from the second line L6 is defined as a tangent line U18. As shown in FIG. 21, a region R15 (shaded portion in FIG. 21) formed by arcs T15, T16, T17, T18 and tangents U15, U16, U17, U18 becomes a strong wind area with strong downwash. As shown in FIGS. 22 and 23, in a plan view, the region R15 (shaded portion in FIG. 21) is a strong wind area with strong downwash. Therefore, the discharge ports 62a and 64a of the nozzles 62 and 64 are preferably provided in the region R15 in plan view.

Further, as shown in FIGS. 22 to 27, in a plan view, a fourth region connecting the rotation axes of the coaxial counter rotating rotors 220c (220d), 222c (222d), 224c (224d), and 226c (226d). R16 (shaded area in FIG. 21) is a strong wind area with strong downwash. Therefore, the discharge ports 62a and 64a of the nozzles 62 and 64 are preferably provided in the fourth region R16 in plan view.

Further, as shown in FIG. 22 and FIG. 23, the rotation locus S15 of the fourth region R16 and the coaxial counter rotating rotors 220c (220d), 222c (222d), 224c (224d), and 226c (226d) in plan view. , S16, S17, and S18, the fifth regions R17, R18, R19, and R20 (shaded portions in FIG. 21) are strong wind areas with stronger downwash. 22 to 27, the downwash located in the fifth region R17 to R20 in FIG. 22 maintains a strong wind while moving backward as it proceeds downward, and therefore, from the fifth region R17 to R20. It can be seen that when the medicine is discharged, the medicine can be reliably sprayed below the flight path of the multicopter 10b. Therefore, it is more preferable that the discharge ports 62a and 64a of the nozzles 62 and 64 are provided in the fifth regions R17 and R20 or in the fifth regions R18 and R19, respectively, in plan view.

The discharge ports 62a and 64a of the nozzles 62 and 64 are preferably arranged so as to be line symmetric with respect to the first line L5.

Referring to FIG. 21, in this embodiment, the positions of the discharge ports 62a and 64a of the nozzles 62 and 64 are symmetrical with respect to the first line L5 in the fourth region R16 in plan view. Provided in R21 and R22.

According to such a multicopter 10b, by using the four sets of coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d, a strong downwash is generated and placed on the strong downwash. Can be sprayed with drugs. In addition, since the fourth region R16 is an area with strong downwash, by providing the discharge ports 62a and 64a of the nozzles 62 and 64 in the fourth region R16, the medicine is spread on the strong downwash. be able to.

Since the fifth regions R17 to R20 are areas where the downwash is stronger, by providing the discharge ports 62a and 64a of the nozzles 62 and 64 in the fifth regions R17 to R20, the medicine is made stronger. Can be sprayed on top.

When the rotor is composed of only four sets of coaxial counter rotating rotors 220c, 220d, 222c, 222d, 224c, 224d and 226c, 226d as in the multicopter 10b, the downwash generated by each coaxial counter rotating rotor is the other coaxial. Less affected by downwash generated by counter-rotating rotor. Therefore, when the discharge ports 62a and 64a of the nozzles 62 and 64 are arranged directly below any one of the rotation axes of the coaxial counter rotating rotors 220d, 222d, 224d and 226d, the discharge ports 62a of the nozzles 62 and 64 are disposed. , 64a is sprayed from the center of a strong downwash generated by a pair of coaxial counter rotating rotors located directly above each, thereby suppressing the scattering of the medicine and the object in the field It is possible to secure a larger amount of drug on the surface.

In the multicopters 10 and 10a, the discharge ports of the nozzles are arranged on the plane other than the second line, and the direction and / or position of the discharge ports of the nozzles can be changed between forward and backward travel. It may be provided.

Generally, the rear area has a stronger downwash than the front area with respect to the traveling direction of the multicopter. Therefore, when the multicopters 10 and 10a are configured to spray the medicine at the time of advance and reverse without changing the front-rear direction without changing the front-rear direction over the field, and when the discharge ports of the respective nozzles are arranged outside the second line, By making it possible to change the direction and / or position of the nozzle outlet at the time of reverse travel and backward travel, the drug can be applied in consideration of the difference in downwash between the front region and the rear region with respect to the wind and the traveling direction. The medicine can be discharged, and can be sprayed in the same way when moving forward and backward by placing the drug on a strong downwash. This is particularly effective when one nozzle outlet is provided in each of the two first regions or the two second regions.

In the multicopter 10 shown in FIG. 1, the two nozzles 62 and 64 are used. However, the present invention is not limited to this, and four nozzles may be used. In this case, referring to FIG. 3, in a plan view, the discharge ports of the two nozzles may be provided in the second region R3, and the discharge ports of the other two nozzles may be provided in the second region R4. preferable. More preferably, the discharge ports of the two nozzles are respectively disposed in the second region R3 and on both the front and rear sides of the second line L2. Further, the discharge ports of the other two nozzles are respectively disposed in the second region R4 on both the front and rear sides of the second line L2.

In the multicopter 10a shown in FIG. 10, the two nozzles 62 and 64 are used, but the present invention is not limited to this, and four nozzles may be used. In this case, referring to FIG. 12, in a plan view, the discharge ports of the two nozzles may be provided in the first region R7, and the discharge ports of the other two nozzles may be provided in the first region R8. preferable. More preferably, the discharge ports of the two nozzles are respectively within the rotation locus S8 within the region R13a on the first line L3 side of the rotation axis of the single rotor 138b and within the rotation locus S9 and the rotation of the single rotor 140b. It is provided in the region R13b on the first line L3 side from the axis. The regions R13a and R13b are included in any of the first region R7, the second region R9, and the third region R11. Further, the discharge ports of the other two nozzles are respectively in the rotation locus S13 in the region R14a on the first line L3 side from the rotation axis of the single rotor 148b, and in the rotation locus S12, and the rotation of the single rotor 146b. It is provided in the region R14b on the first line L3 side from the axis. The regions R14a and R14b are included in any of the first region R8, the second region R10, and the third region R12.

In the multicopters 10 and 10a, it is preferable that the same number of nozzle outlets be arranged in areas with strong downwash on both the left and right sides of the first line so as to be symmetrical with respect to the first line extending in the front-rear direction. .

In the multicopter 10b shown in FIG. 19, the two nozzles 62 and 64 are used. However, the present invention is not limited to this, and four nozzles may be used. In this case, referring to FIG. 21, it is preferable that the discharge ports of the four nozzles are provided in the fifth regions R17 to R20, respectively, in a plan view. Further, in plan view, the discharge ports of the four nozzles are respectively a position R23 immediately below the rotation axis of the coaxial counter rotating rotor 220c (220d) and a position R24 immediately below the rotation axis of the coaxial counter rotating rotor 222c (222d). Further, it may be provided at a position R25 immediately below the rotation axis of the coaxial counter rotating rotor 224c (224d) and a position R26 immediately below the rotation axis of the coaxial counter rotating rotor 226c (226d).

In the multicopter 10b, it is preferable that the same number of nozzle outlets be arranged in the fifth regions R17 to R20 so as to be symmetric with respect to the first line L5 extending in the front-rear direction.

In the multicopters 10, 10 a, 10 b, two or more nozzle outlets are arranged on both the front and rear sides of the second line so as to be line-symmetric with respect to the second line. , 10a, 10b may be provided so that the medicine can be ejected from the nozzle on the rear side.

As described above, the rear area has a stronger downwash than the front area with respect to the direction of travel of the multicopter. Therefore, when the multicopter 10, 10a, 10b is configured to spray the medicine at the time of forward and backward movement without changing the front-rear direction over the field, and when a total of four or more nozzles are arranged, Two or more discharge ports are arranged on both front and rear sides of the second line so as to be symmetric with respect to the second line, and a plurality of nozzles are arranged with respect to the traveling direction of the multicopters 10, 10a, 10b. The medicine can be ejected from the rear nozzle. Thereby, it can switch so that a medicine may be ejected from the nozzle on the back side with respect to the advancing direction, and the medicine can be put on a strong downwash and sprayed in the same way at the time of forward movement and backward movement.

In each of the multicopters 10, 10a, and 10b, a coaxial counter-rotating rotor may be further provided at the center points P1, P2, and P3.

All of the rotor units included in the multicopters 10 and 10a may be coaxial contra-rotating rotor units. That is, the rotor included in the multicopter 10 may be six sets of coaxial counter rotating rotors. The rotor included in the multicopter 10a may be eight sets of coaxial counter rotating rotors.

In the multicopter 10a, the rotor near the nozzle outlet may be four sets of coaxial counter rotating rotors. For example, referring to FIG. 12, the discharge ports 62a. When 64a is provided at each of the positions R13 and R14, or when the discharge ports of the four nozzles are provided at the regions R13a, R13b, R14a, and R14b, respectively, the rotor near the second line L4 is set to four coaxial two A double reversing rotor is used. Further, when the discharge ports of the four nozzles are provided at both ends of the third regions R11 and R12, the rotor near the first line L3 is set as four sets of coaxial counter rotating rotors. In this case, the medicine can be satisfactorily spread on a stronger downwash.

In each of the multicopters 10 and 10a, the dimensions of all the included rotors are the same. However, the present invention is not limited to this, and the rotor diameter in the vicinity of the nozzle outlet may be larger than the rotor diameters of the other rotors. Good. In this case, the medicine can be satisfactorily spread on a stronger downwash.

In the multicopter 10, the two sets of coaxial contra-rotating rotors 44c, 44d and 50c, 50d on the second line L2 may be arranged in front of or behind the center point P1.

In the multicopter 10, in plan view, the distances from the respective rotation shafts ( rotor support portions 44a, 44b, 50a, 50b) of the coaxial contra-rotating rotors 44c, 44d, 50c, 50d to the first line L1 are set as the single rotor 40b. , 42b, 46b, 48b may be longer than the distance from the respective rotation shafts ( rotor support portions 40a, 42a, 46a, 48a) to the center point P1. In this case, the width in which the medicine can be spread can be increased.

Further, in the multicopter 10, in plan view, the distances from the respective rotation axes of the coaxial counter rotating rotors 44c, 44d, 50c, 50d to the first line L1 are set to the respective rotations of the single rotors 40b, 42b, 46b, 48b. The distance from the axis to the center point P1 may be shorter.

The present invention can be applied not only to multicopters that move forward and backward without changing the front-rear direction but also to multicopters that reciprocate by changing the direction of the aircraft.

In the above-described embodiment, the rotor support portion also functions as the rotating shaft of the rotor, but is not limited thereto. You may comprise a rotor support part and the rotating shaft of a rotor as a separate member.

In the above-described embodiment, the single rotor unit and the driving source for driving the single rotor unit are provided below the tip of the spoke part of the main support part. It may be provided above.

In the above-described embodiment, the second line does not necessarily pass through the center point in plan view.

The present invention includes 4 × N (N is an integer of 2 or more) rotors spaced apart from each other so as to surround a center point in plan view, and 4 × N rotors in plan view It can be applied to any multicopter in which the first line extending in the front-rear direction through the center point is arranged in line symmetry including the rotational direction, and the same number of rotors are arranged on both the left and right sides of the first line.

Although the preferred embodiments of the present invention have been described above, it is apparent that various modifications can be made without departing from the scope and spirit of the present invention. The scope of the invention is limited only by the appended claims.

10, 10a, 10b Multicopter 12, 100, 200 Main support portions 28, 30, 32a, 32b, 34, 36, 38a, 38b, 120, 122, 124, 126, 128, 130, 132, 134, 212a, 212b, 214a, 214b, 216a, 216b, 218a, 218b Drive source 40b, 42b, 46b, 48b, 136b, 138b, 140b, 142b, 144b, 146b, 148b, 150b Single rotor 44c, 44d, 50c, 50d, 220c, 220d, 222c, 222d, 224c, 224d, 226c, 226d Coaxial counter rotating rotor 40a, 42a, 44a, 44b, 46a, 48a, 50a, 50b, 136a, 138a, 140a, 142a, 144a, 146a, 148a, 1 0a, 220a, 220b, 222a, 222b, 224a, 224b, 226a, 226b Rotor support portion 52 Dispersing device 62, 64 Nozzle 62a, 64a Discharge port L1, L3, L5 First line L2, L4, L6 Second line S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11, S12, S13, S14, S15, S16, S17, S18 Rotating locus T1, T2, T3, T4, T5, T6, T7, T8 , T9, T10, T11, T12, T13, T14, T15, T16, T17, T18 Arc U1, U2, U4, U5, U7, U8, U9, U11, U12, U13, U15, U16, U17, U18 Tangent U3 , U6, U10, U14 Lines R1, R2, R7, R8 First region R3, R4, R9, R10 Second Region R11, R12 Third region R16 Fourth region R17, R18, R19, R20 Fifth region R5, R6, R13a, R13b, R14a, R14b, R15 regions R5a, R6a, R13, R14, R21, R22, R23, R24 , R25, R26 position P1, P2, P3 center point

Claims (17)

1. 4 × N (N is an integer of 2 or more) rotors arranged at intervals from each other so as to surround the center point in plan view;
   4 × N rotor support portions each supporting the rotor,
   A main support for supporting each rotor support;
   A spraying device including a plurality of nozzles for discharging a medicine;
   In plan view, the 4 × N rotors are arranged symmetrically with respect to the first line extending in the front-rear direction through the center point, including the rotational direction,
   The same number of the rotors are disposed on the left and right sides of the first line,
   In side view, the outlet of each nozzle is located below the 4 × N rotors,
   In plan view on both the left and right sides of the first line, the arc is formed by a circular arc and a tangent line of the rotation locus of each rotor tip, and a line passing through the rotation axis of the foremost rotor and the rotation axis of the last rotor. A multi-copter in which a discharge port of each nozzle is provided in the first region.
2. The multicopter according to claim 1, wherein, in a plan view, the discharge port of each nozzle is provided so as not to overlap the rotation shaft of each rotor.
3. The multi-copter according to claim 1 or 2, wherein a discharge port of each nozzle is provided except under the rotor support portion.
4. 4 × N drive sources for driving the rotors, respectively,
   The drive source and the rotor are provided on the same axis,
   4. The multicopter according to claim 1, wherein the discharge ports of the respective nozzles are provided except under the drive source. 5.
5. The discharge port of each said nozzle is provided in the 2nd area | region formed by connecting the rotating shaft of each said rotor by planar view in the right-and-left both sides of the said 1st line. Multicopter.
6. The 4 × N rotor includes four single rotors and two sets of coaxial counter rotating rotors,
   In plan view, the four single rotors and the two sets of coaxial counter rotating rotors are arranged so that a hexagon is formed when the respective rotation centers are connected,
   In plan view, the single rotor is disposed one by one in a region partitioned by the first line and a second line extending in the left-right direction so as to be orthogonal to the first line,
   6. The multicopter according to claim 1, wherein the two sets of coaxial contra-rotating rotors are arranged on the second line in a plan view.
7. The multicopter according to claim 6, wherein the discharge port of each nozzle is disposed on the second line in plan view.
8. The multicopter according to claim 6 or 7, wherein the discharge port of each nozzle is arranged in a rotation locus of each coaxial counter-rotating rotor in a plan view.
9. 9. The multicopter according to claim 8, wherein a distance from a rotation axis of the coaxial counter rotating rotor to the first line is longer than a distance from a rotation axis of the single rotor to the center point in a plan view.
10. The 4 × N rotor includes eight single rotors,
    In plan view, the eight single rotors are arranged so that an octagon is formed when the respective rotation centers are connected,
    The two single rotors are arranged in a region partitioned by the first line and a second line extending in the left-right direction so as to be orthogonal to the first line in a plan view. The multicopter according to any one of the above.
11. A third region between the rotation axes of the foremost single rotor and the rearmost single rotor in a side view on both the left and right sides of the first line and where the rotation trajectories of the single rotor overlap in the front-rear direction. Formed,
    11. The multicopter according to claim 10, wherein the discharge ports of the nozzles are provided in the third region in a plan view on both right and left sides of the first line.
12. In a plan view, the discharge ports of the nozzles are arranged other than on the second line,
    The multi-copter according to claim 6 or 10, wherein the discharge port of each nozzle is provided so that its direction and / or position can be changed between forward and backward.
13. 4 × N drive sources for driving the rotors, respectively,
    The 4 × N rotors include a single rotor,
    The multicopter according to claim 1, wherein the single rotor is provided near a lower portion of the drive source.
14. Four sets of coaxial counter rotating rotors spaced apart from each other so as to surround the center point in plan view;
    8 rotor support portions respectively supporting the coaxial counter rotating rotors;
    A main support for supporting each rotor support;
    A spraying device including a plurality of nozzles for discharging a medicine;
    In plan view, the four sets of coaxial contra-rotating rotors are arranged symmetrically with respect to the first line extending in the front-rear direction through the center point, including the rotation direction, and connect the respective rotation centers. Arranged to form a quadrangle,
    In plan view, the coaxial contra-rotating rotors are arranged one by one in a region partitioned by the first line and a second line extending in the left-right direction so as to be orthogonal to the first line,
    The discharge ports of the nozzles are located below the four sets of coaxial counter rotating rotors in a side view, and are provided in a fourth region connecting the rotation axes of the coaxial counter rotating rotors in a plan view. , Multicopter.
15. The multi-copter according to claim 1, 6, 10, or 14, wherein the discharge ports of the plurality of nozzles are arranged so as to be line-symmetric with respect to the first line.
16. The multicopter according to claim 14, wherein, in a plan view, the discharge port of each nozzle is provided in a fifth region where the fourth region and the rotation locus of each coaxial counter rotating rotor overlap.
17. Two or more discharge ports of the nozzle are arranged on both front and rear sides of the second line so as to be line-symmetric with respect to the second line,
    The multicopter according to claim 1, 6, 10, or 14, wherein the plurality of nozzles are provided so that the medicine can be discharged from the nozzles on the rear side with respect to the traveling direction of the multicopter.

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